Distributed Weighted Coverage for Multi-Robot Systems in Non-Convex Environment
Source abstract
Abstract
Multi-robot coverage systems are widely used in operations such as environmental monitoring, disaster rescue, and pollution prevention. This study considers inherent positioning errors in positioning systems and ground mobile robots with limited communication distance and poor quality in practice. A centroidal Voronoi tessellation algorithm-based formation control technology for multi-robots is optimized. First, by constructing buffered Voronoi cells (BUVCs) for each robot, the collision avoidance ability of the multi-robot formation movement is improved. Next, the formation control problem of multi-robots in a limited communication range and non-convex environment is realized via discrete Voronoi partitioning, a communication distance constraint, and an obstacle avoidance strategy. Simulation and experiment results demonstrate that the proposed method can effectively solve the position generation problem of multi-robot coverage systems in a non-convex environment with actual sizes of the robots and positioning system errors and can further improve the collision avoidance performance of robots and the robustness of BUVC algorithms.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Distributed Control Multi-Agent Systems · Robotic Path Planning Algorithms · UAV Applications and Optimization
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
School of Mechatronic Engineering, Xi’an Technological University, Xi’an 710021, China
School of Electronic Information Engineering, Xi’an Technological University, Xi’an 710021, China
MESA-Laboratory, School of Engineering, University of California, Merced, CA 95343, USA
Funding
National Natural Science Foundation of China · Key R & D Program Project of Shaanxi Province · Key Industrial Innovation Chain Project of Shaanxi Province
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